OpenRaiser/Intern-Atlas huggingface dataset:
From reactive to cognitive: brain-inspired spatial intelligence for embodied agents
Venue: arXiv cs.AI 2025
Year: 2025

Spatial cognition enables adaptive goal-directed behavior by constructing internal models of space. Robust biological systems consolidate spatial knowledge into three interconnected forms: \textit{landmarks} for salient cues, \textit{route knowledge} for movement trajectories, and \textit{survey knowledge} for map-like representations. While recent advances in multi-modal large language models (MLLMs) have enabled visual-language reasoning in embodied agents, these efforts lack structured spatial memory and instead operate reactively, limiting their generalization and adaptability in complex real-world environments. Here we present Brain-inspired Spatial Cognition for Navigation (BSC-Nav), a unified framework for constructing and leveraging structured spatial memory in embodied agents. BSC-Nav builds allocentric cognitive maps from egocentric trajectories and contextual cues, and dynamically retrieves spatial knowledge aligned with semantic goals. Integrated with powerful MLLMs, BSC-Nav achieves state-of-the-art efficacy and efficiency across diverse navigation tasks, demonstrates strong zero-shot generalization, and supports versatile embodied behaviors in the real physical world, offering a scalable and biologically grounded path toward general-purpose spatial intelligence.
MMCIG: Multimodal Cover Image Generation for Text-only Documents and Its Dataset Construction via Pseudo-labeling
Venue: arXiv cs.CV 2025
Year: 2025

In this study, we introduce a novel cover image generation task that produces both a concise summary and a visually corresponding image from a given text-only document. Because no existing datasets are available for this task, we propose a multimodal pseudo-labeling method to construct high-quality datasets at low cost. We first collect documents that contain multiple images with their captions, and their summaries by excluding factually inconsistent instances. Our approach selects one image from the multiple images accompanying the documents. Using the gold summary, we independently rank both the images and their captions. Then, we annotate a pseudo-label for an image when both the image and its corresponding caption are ranked first in their respective rankings. Finally, we remove documents that contain direct image references within texts. Experimental results demonstrate that the proposed multimodal pseudo-labeling method constructs more precise datasets and generates higher quality images than text- and image-only pseudo-labeling methods, which consider captions and images separately. We release our code at: https://github.com/HyeyeeonKim/MMCIG
Active Domain Knowledge Acquisition with 100-Dollar Budget: Enhancing LLMs via Cost-Efficient, Expert-Involved Interaction in Sensitive Domains
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have demonstrated an impressive level of general knowledge. However, they often struggle in highly specialized and cost-sensitive domains such as drug discovery and rare disease research due to the lack of expert knowledge. In this paper, we propose a novel framework (PU-ADKA) designed to efficiently enhance domain-specific LLMs by actively engaging domain experts within a fixed budget. Unlike traditional fine-tuning approaches, PU-ADKA selectively identifies and queries the most appropriate expert from a team, taking into account each expert's availability, knowledge boundaries, and consultation costs. We train PU-ADKA using simulations on PubMed data and validate it through both controlled expert interactions and real-world deployment with a drug development team, demonstrating its effectiveness in enhancing LLM performance in specialized domains under strict budget constraints. In addition to outlining our methodological innovations and experimental results, we introduce a new benchmark dataset, CKAD, for cost-effective LLM domain knowledge acquisition to foster further research in this challenging area.
MC3G: Model Agnostic Causally Constrained Counterfactual Generation
Venue: arXiv cs.AI 2025
Year: 2025

Machine learning models increasingly influence decisions in high-stakes settings such as finance, law and hiring, driving the need for transparent, interpretable outcomes. However, while explainable approaches can help understand the decisions being made, they may inadvertently reveal the underlying proprietary algorithm: an undesirable outcome for many practitioners. Consequently, it is crucial to balance meaningful transparency with a form of recourse that clarifies why a decision was made and offers actionable steps following which a favorable outcome can be obtained. Counterfactual explanations offer a powerful mechanism to address this need by showing how specific input changes lead to a more favorable prediction. We propose Model-Agnostic Causally Constrained Counterfactual Generation (MC3G), a novel framework that tackles limitations in the existing counterfactual methods. First, MC3G is model-agnostic: it approximates any black-box model using an explainable rule-based surrogate model. Second, this surrogate is used to generate counterfactuals that produce a favourable outcome for the original underlying black box model. Third, MC3G refines cost computation by excluding the ``effort" associated with feature changes that occur automatically due to causal dependencies. By focusing only on user-initiated changes, MC3G provides a more realistic and fair representation of the effort needed to achieve a favourable outcome. We show that MC3G delivers more interpretable and actionable counterfactual recommendations compared to existing techniques all while having a lower cost. Our findings highlight MC3G's potential to enhance transparency, accountability, and practical utility in decision-making processes that incorporate machine-learning approaches.
Provable Generalization in Overparameterized Neural Nets
Venue: arXiv cs.LG 2025
Year: 2025

Deep neural networks often contain far more parameters than training examples, yet they still manage to generalize well in practice. Classical complexity measures such as VC-dimension or PAC-Bayes bounds usually become vacuous in this overparameterized regime, offering little explanation for the empirical success of models like Transformers. In this work, I explore an alternative notion of capacity for attention-based models, based on the effective rank of their attention matrices. The intuition is that, although the parameter count is enormous, the functional dimensionality of attention is often much lower. I show that this quantity leads to a generalization bound whose dependence on sample size matches empirical scaling laws observed in large language models, up to logarithmic factors. While the analysis is not a complete theory of overparameterized learning, it provides evidence that spectral properties of attention, rather than raw parameter counts, may be the right lens for understanding why these models generalize.
Are You Sure You're Positive? Consolidating Chain-of-Thought Agents with Uncertainty Quantification for Aspect-Category Sentiment Analysis
Venue: arXiv cs.CL 2025
Year: 2025

Aspect-category sentiment analysis provides granular insights by identifying specific themes within product reviews that are associated with particular opinions. Supervised learning approaches dominate the field. However, data is scarce and expensive to annotate for new domains. We argue that leveraging large language models in a zero-shot setting is beneficial where the time and resources required for dataset annotation are limited. Furthermore, annotation bias may lead to strong results using supervised methods but transfer poorly to new domains in contexts that lack annotations and demand reproducibility. In our work, we propose novel techniques that combine multiple chain-of-thought agents by leveraging large language models' token-level uncertainty scores. We experiment with the 3B and 70B+ parameter size variants of Llama and Qwen models, demonstrating how these approaches can fulfil practical needs and opening a discussion on how to gauge accuracy in label-scarce conditions.
OVITA: Open-Vocabulary Interpretable Trajectory Adaptations
Venue: arXiv cs.RO 2025
Year: 2025

Adapting trajectories to dynamic situations and user preferences is crucial for robot operation in unstructured environments with non-expert users. Natural language enables users to express these adjustments in an interactive manner. We introduce OVITA, an interpretable, open-vocabulary, language-driven framework designed for adapting robot trajectories in dynamic and novel situations based on human instructions. OVITA leverages multiple pre-trained Large Language Models (LLMs) to integrate user commands into trajectories generated by motion planners or those learned through demonstrations. OVITA employs code as an adaptation policy generated by an LLM, enabling users to adjust individual waypoints, thus providing flexible control. Another LLM, which acts as a code explainer, removes the need for expert users, enabling intuitive interactions. The efficacy and significance of the proposed OVITA framework is demonstrated through extensive simulations and real-world environments with diverse tasks involving spatiotemporal variations on heterogeneous robotic platforms such as a KUKA IIWA robot manipulator, Clearpath Jackal ground robot, and CrazyFlie drone.
Federated Reinforcement Learning for Runtime Optimization of AI Applications in Smart Eyewears
Venue: arXiv cs.AI 2025
Year: 2025

Extended reality technologies are transforming fields such as healthcare, entertainment, and education, with Smart Eye-Wears (SEWs) and Artificial Intelligence (AI) playing a crucial role. However, SEWs face inherent limitations in computational power, memory, and battery life, while offloading computations to external servers is constrained by network conditions and server workload variability. To address these challenges, we propose a Federated Reinforcement Learning (FRL) framework, enabling multiple agents to train collaboratively while preserving data privacy. We implemented synchronous and asynchronous federation strategies, where models are aggregated either at fixed intervals or dynamically based on agent progress. Experimental results show that federated agents exhibit significantly lower performance variability, ensuring greater stability and reliability. These findings underscore the potential of FRL for applications requiring robust real-time AI processing, such as real-time object detection in SEWs.
Meta-R1: Empowering Large Reasoning Models with Metacognition
Venue: arXiv cs.AI 2025
Year: 2025

Large Reasoning Models (LRMs) demonstrate remarkable capabilities on complex tasks, exhibiting emergent, human-like thinking patterns. Despite their advances, we identify a fundamental limitation: current LRMs lack a dedicated meta-level cognitive system-an essential faculty in human cognition that enables "thinking about thinking". This absence leaves their emergent abilities uncontrollable (non-adaptive reasoning), unreliable (intermediate error), and inflexible (lack of a clear methodology). To address this gap, we introduce Meta-R1, a systematic and generic framework that endows LRMs with explicit metacognitive capabilities. Drawing on principles from cognitive science, Meta-R1 decomposes the reasoning process into distinct object-level and meta-level components, orchestrating proactive planning, online regulation, and adaptive early stopping within a cascaded framework. Experiments on three challenging benchmarks and against eight competitive baselines demonstrate that Meta-R1 is: (I) high-performing, surpassing state-of-the-art methods by up to 27.3%; (II) token-efficient, reducing token consumption to 15.7% ~ 32.7% and improving efficiency by up to 14.8% when compared to its vanilla counterparts; and (III) transferable, maintaining robust performance across datasets and model backbones.
Explainable AI (XAI) for Arrhythmia detection from electrocardiograms
Venue: arXiv cs.LG 2025
Year: 2025

Advancements in deep learning have enabled highly accurate arrhythmia detection from electrocardiogram (ECG) signals, but limited interpretability remains a barrier to clinical adoption. This study investigates the application of Explainable AI (XAI) techniques specifically adapted for time-series ECG analysis. Using the MIT-BIH arrhythmia dataset, a convolutional neural network-based model was developed for arrhythmia classification, with R-peak-based segmentation via the Pan-Tompkins algorithm. To increase the dataset size and to reduce class imbalance, an additional 12-lead ECG dataset was incorporated. A user needs assessment was carried out to identify what kind of explanation would be preferred by medical professionals. Medical professionals indicated a preference for saliency map-based explanations over counterfactual visualisations, citing clearer correspondence with ECG interpretation workflows. Four SHapley Additive exPlanations (SHAP)-based approaches: permutation importance, KernelSHAP, gradient-based methods, and Deep Learning Important FeaTures (DeepLIFT), were implemented and compared. The model achieved 98.3% validation accuracy on MIT-BIH but showed performance degradation on the combined dataset, underscoring dataset variability challenges. Permutation importance and KernelSHAP produced cluttered visual outputs, while gradient-based and DeepLIFT methods highlighted waveform regions consistent with clinical reasoning, but with variability across samples. Findings emphasize the need for domain-specific XAI adaptations in ECG analysis and highlight saliency mapping as a more clinically intuitive approach
Opening the Black Box: Interpretable Remedies for Popularity Bias in Recommender Systems
Venue: arXiv cs.IR 2025
Year: 2025

Popularity bias is a well-known challenge in recommender systems, where a small number of popular items receive disproportionate attention, while the majority of less popular items are largely overlooked. This imbalance often results in reduced recommendation quality and unfair exposure of items. Although existing mitigation techniques address this bias to some extent, they typically lack transparency in how they operate. In this paper, we propose a post-hoc method using a Sparse Autoencoder (SAE) to interpret and mitigate popularity bias in deep recommendation models. The SAE is trained to replicate a pre-trained model's behavior while enabling neuron-level interpretability. By introducing synthetic users with clear preferences for either popular or unpopular items, we identify neurons encoding popularity signals based on their activation patterns. We then adjust the activations of the most biased neurons to steer recommendations toward fairer exposure. Experiments on two public datasets using a sequential recommendation model show that our method significantly improves fairness with minimal impact on accuracy. Moreover, it offers interpretability and fine-grained control over the fairness-accuracy trade-off.
Bine Trees: Enhancing Collective Operations by Optimizing Communication Locality
Venue: arXiv cs.DC 2025
Year: 2025

Communication locality plays a key role in the performance of collective operations on large HPC systems, especially on oversubscribed networks where groups of nodes are fully connected internally but sparsely linked through global connections. We present Bine (binomial negabinary) trees, a family of collective algorithms that improve communication locality. Bine trees maintain the generality of binomial trees and butterflies while cutting global-link traffic by up to 33%. We implement eight Bine-based collectives and evaluate them on four large-scale supercomputers with Dragonfly, Dragonfly+, oversubscribed fat-tree, and torus topologies, achieving up to 5x speedups and consistent reductions in global-link traffic across different vector sizes and node counts.
2-Layer Fan-Planarity in Polynomial Time
Venue: arXiv cs.CG 2025
Year: 2025

In this paper, we give a polynomial-time algorithm for deciding whether an input bipartite graph admits a 2-layer fan-planar drawing, resolving an open problem posed in several papers since 2015.
Better Indexing for Rectangular Pattern Matching
Venue: arXiv cs.DS 2025
Year: 2025

We revisit the complexity of building, given a two-dimensional string of size $n$, an indexing structure that allows locating all $k$ occurrences of a two-dimensional pattern of size $m$. While a structure of size $\mathcal{O}(n)$ with query time $\mathcal{O}(m+k)$ is known for this problem under the additional assumption that the pattern is a square [Giancarlo, SICOMP 1995], a popular belief was that for rectangular patterns one cannot achieve such (or even similar) bounds, due to a lower bound for a certain natural class of approaches [Giancarlo, WADS 1993]. We show that, in fact, it is possible to construct a very simple structure of size $\mathcal{O}(n\log n)$ that supports such queries for any rectangular pattern in $\mathcal{O}(m+k\log^{\varepsilon}n)$ time, for any $\varepsilon>0$. Further, our structure can be constructed in $\tilde{\mathcal{O}}(n)$ time.
ShaLa: Multimodal Shared Latent Space Modelling
Venue: arXiv cs.LG 2025
Year: 2025

This paper presents a novel generative framework for learning shared latent representations across multimodal data. Many advanced multimodal methods focus on capturing all combinations of modality-specific details across inputs, which can inadvertently obscure the high-level semantic concepts that are shared across modalities. Notably, Multimodal VAEs with low-dimensional latent variables are designed to capture shared representations, enabling various tasks such as joint multimodal synthesis and cross-modal inference. However, multimodal VAEs often struggle to design expressive joint variational posteriors and suffer from low-quality synthesis. In this work, ShaLa addresses these challenges by integrating a novel architectural inference model and a second-stage expressive diffusion prior, which not only facilitates effective inference of shared latent representation but also significantly improves the quality of downstream multimodal synthesis. We validate ShaLa extensively across multiple benchmarks, demonstrating superior coherence and synthesis quality compared to state-of-the-art multimodal VAEs. Furthermore, ShaLa scales to many more modalities while prior multimodal VAEs have fallen short in capturing the increasing complexity of the shared latent space.
Stochastic Information Geometry: Characterization of Fréchet Means of Gaussian Fields in Poisson Networks
Venue: arXiv cs.IT 2025
Year: 2025

We develop a unified framework for distributed inference, semantic communication, and exploration in spatial networks by integrating stochastic geometry with information geometry - a direction that has not been explored in prior literature. Specifically, we study the problem of estimating and aggregating a field of Gaussian distributions indexed by a spatial Poisson point process (PPP), under both the Fisher--Rao and 2-Wasserstein geometries. We derive non-asymptotic concentration bounds and Palm deviations for the empirical Fréchet mean, thereby quantifying the geometric uncertainty induced by spatial randomness. Building on these results, we demonstrate applications to wireless sensor networks, where our framework provides geometry-aware aggregation methods that downweight unreliable sensors and rigorously characterize estimation error under random deployment. Further, we extend our theory to semantic communications, proposing compression protocols that guarantee semantic fidelity via distortion bounds on Fréchet means under PPP sampling. Finally, we introduce the \texttt{Fréchet-UCB} algorithm for multi-armed bandit problems with heteroscedastic Gaussian rewards. This algorithm combines upper confidence bounds with a geometry-aware penalty reflecting deviation from the evolving Fréchet mean, and we derive regret bounds that exploit geometric structure. Simulations validate the theoretical predictions across wireless sensor networks, semantic compression tasks, and bandit environments, highlighting scalability, robustness, and improved decision-making. Our results provide a principled mathematical foundation for geometry-aware inference, semantic communication, and exploration in distributed systems with statistical heterogeneity.
Retrieval Capabilities of Large Language Models Scale with Pretraining FLOPs
Venue: arXiv cs.LG 2025
Year: 2025

How does retrieval performance scale with pretraining FLOPs? We benchmark retrieval performance across LLM model sizes from 125 million parameters to 7 billion parameters pretrained on datasets ranging from 1 billion tokens to more than 2 trillion tokens. We find that retrieval performance on zero-shot BEIR tasks predictably scales with LLM size, training duration, and estimated FLOPs. We also show that In-Context Learning scores are strongly correlated with retrieval scores across retrieval tasks. Finally, we highlight the implications this has for the development of LLM-based retrievers.
Mutual Information Surprise: Rethinking Unexpectedness in Autonomous Systems
Venue: arXiv cs.LG 2025
Year: 2025

Recent breakthroughs in autonomous experimentation have demonstrated remarkable physical capabilities, yet their cognitive control remains limited--often relying on static heuristics or classical optimization. A core limitation is the absence of a principled mechanism to detect and adapt to the unexpectedness. While traditional surprise measures--such as Shannon or Bayesian Surprise--offer momentary detection of deviation, they fail to capture whether a system is truly learning and adapting. In this work, we introduce Mutual Information Surprise (MIS), a new framework that redefines surprise not as anomaly detection, but as a signal of epistemic growth. MIS quantifies the impact of new observations on mutual information, enabling autonomous systems to reflect on their learning progression. We develop a statistical test sequence to detect meaningful shifts in estimated mutual information and propose a mutual information surprise reaction policy (MISRP) that dynamically governs system behavior through sampling adjustment and process forking. Empirical evaluations--on both synthetic domains and a dynamic pollution map estimation task--show that MISRP-governed strategies significantly outperform classical surprise-based approaches in stability, responsiveness, and predictive accuracy. By shifting surprise from reactive to reflective, MIS offers a path toward more self-aware and adaptive autonomous systems.
Solving Constrained Stochastic Shortest Path Problems with Scalarisation
Venue: arXiv cs.AI 2025
Year: 2025

Constrained Stochastic Shortest Path Problems (CSSPs) model problems with probabilistic effects, where a primary cost is minimised subject to constraints over secondary costs, e.g., minimise time subject to monetary budget. Current heuristic search algorithms for CSSPs solve a sequence of increasingly larger CSSPs as linear programs until an optimal solution for the original CSSP is found. In this paper, we introduce a novel algorithm CARL, which solves a series of unconstrained Stochastic Shortest Path Problems (SSPs) with efficient heuristic search algorithms. These SSP subproblems are constructed with scalarisations that project the CSSP's vector of primary and secondary costs onto a scalar cost. CARL finds a maximising scalarisation using an optimisation algorithm similar to the subgradient method which, together with the solution to its associated SSP, yields a set of policies that are combined into an optimal policy for the CSSP. Our experiments show that CARL solves 50% more problems than the state-of-the-art on existing benchmarks.